Positioning control system for remote elements, including hydraulic transmission units



Oct. 14, 1952 H. ZIEBOLZ ET AL POSITIONING CONTROL. SYSTEM FOR REMOTE ELEMENTS, INCLUDING HYDRAULIC TRANSMISSION UNITS 2 SHEETS-SHEET 1 Filed Jan. 25, 1946 llllllllll (1TB Oct. 14, 1952 H. ZIEBOLZ ETAL 2,613,502 POSITIONING CONTROL SYSTEM FOR REMOTE ELEMENTS, INCLUDING HYDRAULIC TRANSMISSION um'rs Filed Jan. 25, 1946 2 SHEETSSHEET 2 Patented Oct. 14, 1952 POSITIONING CONTROL SYSTEM FOR RE- MOTE ELEMENTS, INCLUDING HYDRAU- LIC TRANSMISSION UNITS Herbert Ziebolz, Daniel T. Gundersen, and Robert K. Baetzmann,

Chicago,

Ill., assignors to Askania Regulator Company, Chicago, 111., a corporation of Illinois Application January 25, 1946, Serial No. 643,420

11 Claims. 1

The invention relates generally to remote control systems and more particularly to systems for accurately controlling the position of a member from a remote station.

One object of the invention is to provide a new and improved remote position control system which is rapid yet accurate in operation.

Another object is to provide a system for controlling the movement and final position of a member from a remote point having power means for imparting movement to the member, a manually actuated member whose movements and position are to be duplicated by the controlled member, and control means, responsive to departure of the member to be controlled and the manual member from corresponding positions, functioning to bring about full rate of operation of the power means for any relative departure of the members from corresponding positions'be yond a certain minimum departure.

Another object is to provide a system for controlling the movement and final position of a member from a remote point having power means for'imparting movement to the member, a manually actuated member whose movements and position are to be duplicated by the controlled member, and control means, responsive to departure of the member to be controlled and the manual member from corresponding positions, functioning to bring about a rate of operation of the power means which is proportional to the departure of the members from corresponding positions when such departure is below a certain minimum and a full rate of operation for any departure beyond that minimum.

- Still another object is to provide a system for controlling the final position of a member from a remote point having power means for driving the member, a manually actuated member whose position it to be duplicated by the driven member, and control means, responsive to departure from correspondence in position of the members to render the power means operative, including a controller for the power means and a regulator for the controller responsive to the departure from relative correspondence in position of the members and to the position of the controller.

Yet another object is to provide a control system of the character described immediately above in which the controller is capable, by acting through the regulator, of arresting its own movement short of producing full rate of operation of the power means only for certain small movements of the manually actuated member.

A further object is to provide a control system for governing the position of a member movable in a plurality of basic directions to duplicate the position of a control member, having electrical signal transmitting means at the master station, means at a remote station for receiving the signal and converting the same into mechanical movement for control of a power means driving the member to be controlled and into movement in part, at least, neutralizing the converted signal and means partaking of the movement of the member to be controlled connected completely to counteract the converted signal as the controlled member reaches the called-for position.

Other objects and advantages willbecome apparent from the following detailed description taken in connection with the accompanying drawings, in which:

Fig. 1 is a box type diagrammatic illustration of a remote control system embodying our invention.

Fig. 2 is an enlarged detailed and still partially 1 diagrammatic view of the master station of Fig. 1.

Fig. 3 is an enlarged detailed and to a slight degree still diagrammatic view of one of the power means and the portion of the control therefor located remotely from the master station.

Fig. 4 is an enlarged, detailed and still partially diagrammatic View of the other of. the power means and the portion of the control therefor located remotely from the master station.

While the invention is susceptible of various modifications and alternative constructions, it is herein disclosed and will hereinafter be described in a preferred embodiment. It is not intended, however, that the invention is to be limited thereby to the specific construction disclosed. On the contrary it is intended to cover all modifications and alternative constructions falling within the spirit and scope of the invention as defined in the appended claims.

For purposes of disclosure, the invention is herein disclosed as adapted to the control of a remotely located member, the control exercised being over the movements of the member but primarily. over the final position of the member. While the controlled member might take a variety of forms, it is, for purposes of disclosure solely, here represented at H) in the form of the arm or beam of a crane for charging and discharging a steel furnace. The member I0 is intended to have movement in at least two basic,

directions. Herein one of these movements will for convenience be a rotation of the member ID about an axis represented at I l and lying in the plane of the drawing, as viewed in Fig. l. The other movement will be a pivotal movement about an axis 12 disposed at right angles to the drawing. It is to be understood that the term basic direction ofmovement is intended to include movement of the member in both directions from a given point while still having the same fundamental movement relative to one of the axes. Thus the member may be pivoted either clockwise or counterclockwise, as viewed in Fig. 1, and be performing one of the basic movements; and

it may be rotated in either 'directionabout the axis l l and be performing the other'basic movement.

Located remotely from the controlled member I0 is a master station MS which includes a control member l3 whose movements and positions are to be simulated or duplicated by the controlled member [0. The member ID is driven in one of its'basic directions by a power means 14 .and is driven in its other basic direction by a power means l5. Positioned adjacent the power means (4 is a control means l6 and similarly located adjacent the power means (-5 is a control means l1, both being adapted to receive a signal transmitted from the master station and operable to convert that signal into control of the controlled member 10.

Herein, depending upon the movement given I to the control member [3, either of the power units i4 and I5 may be driven alone so as to obtain a resultant movement of the controlled member H) in one only of the basic directions, or both'power units may be operated simultaneously with resultant movement'of the controlled member It! in a direction resulting from addition of. the various components of movement in the basic directions. The control is such that the member :0 is swiftly yet accurately brought to the desired position,.herein a position duplicating or simulating that of the control member l3, without overrunm'ng. In one basic direction of movement, the system herein'disclosed is adapted to drive the member ID at the maximum rate for substantially any departure of the control and the controlled members from corresponding positions while in the other basic direction of movement the member is adapted to "be'dri'v'en at a rate proportional to the de parture of the members from a corresponding position only for small departures, and for any larger departures is adapted to be driven at or near the maximum rate of operation of the power unit.

Master station The master station, as more particularly disclosed in Fig. 2, includes, as already stated, the control member [3 which, as seen from Fig. 2. takes the form of a stick similar to that found in small aircraft and commonly referred to as a joystick. The member 13 is nonrotatably secured at one, end to a rockable shaft l8 journaled in the bearings l9 and carrying nonrotatably affixed to one end thereof a gear and nonrotatably affixed to the other end a crank arm 2!. Disposed on opposite sides of the shaft I8 in position to be engaged by the crank arm 2i are a pair of stops 22 which thus serve to limit the extent of permissible rotation of the shaft i3. Secured to the shaft I8 is a torsion spring 23 operable to urge the shaft l3 in one direction so as to tend to restore the member l3 to an at rest or normal position.

While nonrotatably affixed to the shaft Hi, the

4 member I3 is pivotally affixed so that it may swing in a plane passing through the axis of the shaft 18 and thus has movement in two basic directions and in paths composed of components of such basic movements. Disposed at right angles to the shaft i8 is a second shaft 24 journaled in a pair of bearings 25. At one end this shaft also carries a gear 26 and at the other end carries a bracket-shaped crank arm 2'! projecting over the shaft it at the point of attachment of "the control member I 3 thereto. Both the gear 26 and the crank arm 2'! are, of

.course, fast on the shaft 24 and the crank arm 21 ha formed in its axially extending portion 28 a slot 29 through which the control member l3 projects. The slot 29, of course, extends parallel with the shaft 24 and at right angles to the shaft [8 in order that the control member [3 may be actuated to rock the shaft l3 without rocking the shaft 24 and, likewise, in any position of the shaft l8 may rock the shaft 24 without altering the position of the shaft l8. Stops .30 are positioned on opposite sides of the shaft .24 to be abutted by the crank arm 21 and limit the extent of rocking of the shaft 24. Secured to the shaft 24 and operating to urge the same to a neutral position is a torsion spring means '3 l.

Inasmuch as the controlled member [0 and the power means for driving the same are located remotely from the master station, the rotation of gears .20 and 26 produced b movement of the control member 13 cannot readily be transmitted to the control means 16 and H by mechanical connections. It becomes necessary, therefore, to employ more flexible, more readily extensible connections which at the same time, however, very precisely and accurately transmit the movements of the gears 20 and 26. While, no doubt, a variety of such movement or signal transmitting means might be employed, herein electrical means are utilized. More particularly, a self-synchronous system is employed in both instances and to that end there is located at the master station a first transmitter of the rotary multiple phase voltage varying type geared to be driven from the shaft l8, and a second transmitter 36 of the rotary multiple phase voltage varying type geared to be driven from the shaft 24. In both instances the transmitters have nonrotatably secured to the armature shaft a gear 31 substantially smaller than the gears 20 and 26, so that rocking of the shafts l8 and 24 will be amplified. The self-synchronous system are completed by a receiver 38 of the same construction as the transmitters but acting as a motor (see Fig. 4) connected by suitable leads 39 with the transmitter 35 and a receiver 40 of the same construction as the transmitters but acting as a motor (see Fig. 3) connected through suitable leads 4! with the transmitter 36.

First power means and control means Frequently, as here, the mounting of the controlled member H) is such that there is no tendency of the member whether loaded or unloaded to have any movement in one of its basic directions of movement. Herein this free and unbiased movement is rotation of the member [0 about the axis It. The power means [4, under such circumstances, may be comparatively simple in character and herein comprises a motor connected directly to the means forming the axis ll of the member W. The motor 45 herein is a hydraulic motor, more particularly, a reciprocatory motor comprising a cylinder 46 and a piston 41, the latter having a rod 48 for engagement in a suitable driving manner with the means forming the axis i I of the member [0.

The control means l6 for the motor 45, as already stated, includes the self-synchronous receiver 38 which is operable to convert the signal transmitted by the self-synchronous transmitter 35 into a signal or indication that is utilized for the control of the motor 45. Herein this indication is in the form of linear movement of a slide 49 driven through the medium of a rack 50 and pinion 5| from the self-synchronous receiver 38.

This movement together withthat of the controlled member IO, herein the movement of the piston 41, is through a linkage system 52 utilized to control a regulator, generally designated 53, which in turn controls the motor 45. The regulator 53 is of the jet type having a pivoted jet pipe 54 supplied in a conventional manner with fluid under pressure and adapted to discharge against a pair of orifices 55 which are by conduits 56 connected to opposite ends of a cylinder 5'! of a power multiplying means. Reciprocable within the cylinder 51 is a piston 58 connected by a piston rod 59 to the valve element 80 of a spool valve 61. The valve has a supply conduit 62, a conduit 63 leading to the head end of the cylinder 46 and a conduit 64 leading to the rod end of the cylinder. The valve 6| functions in well known manner to supply fluid under pressure to the rod end of the cylinder and to exhaust it from the head end of the cylinder when the valve element 69 is shifted to the right from the position shown in Fig. 4, and vice versa when the valve element 69 is shifted to the left fromits position shown in Fig. 4. It will be appreciated that, due to the arrangement of the conduits 56, 63 and 64, the piston 41 is shifted in a direction opposite to that in which the jet pipe 54 is pivoted.

In turn governing the regulator 53 to cause the motor 45 to impart to the controlled member I0 the movement called for by the control member I3 is the linkage system 52. This system comprises a beam-like link 65 pivotally connected at one end to the element 49 and pivotally connected at the other end to partake of a movement proportional to the movement of the controlledmember. Herein the link 65 is shown connected directly to the piston rod 48 though it is to be appreciated that, depending upon the magnitude of movement of the element 49 and the magnitude of movement of the piston 41, a movement amplifying or reducing means may have to be in corporated. Pivotally attached to the link 65 at its approximate midpoint is a link 66 which at its free end and through, the medium of springs 61 engages the jet pipe 54 on opposite sides to swing the same through its very limited movement about its pivot. The springs 61 function in known manner to take up movement of the link 66 beyond the permissible movement of the jet pipe 54.

The operation of the control means will be readily understood. If it be assumed that the signal received by the self-synchronousreceiver 38 is such as to cause movement of the element 49 to the right, as viewed in Fig. 4., the link 65 will initially pivot about its point of attachment to the piston rod 49 and thus will move thelink 66 to the right pivoting the jet pipe 54 clockwise and thus causing the piston 58 of the power multiplying means 53 to shift to the right. This in turn shifts the valve element to to the right thereby in turn causing the piston 41 of the motor 45 to shift to the left swinging the controlled member In and also the link as still in a counter clockwise direction, as viewed in Fig. 4. The result, of course, is that the link 66 is by the movement of the element 49 shifted in one direcmovement of the element 49 in the opposite direction causes like but reversed operation. The rate of movement of the controlled member II) will, of course, be proportional to the rate of movement or operation of the motor 45 and this, with the arrangement here shown, is a maximum for substantially any departure of the control and controlled members from corresponding positions, for any departure pivots the jet 54 from neutral and thus shifts the valve 60 to full I open position. When the member I 0 reaches its proper position, the jet 54 is restored to neutral, the valve 60 is restored to neutral, and movement of piston f4! and of member ID is arrested.

Second power means and control means the rate is proportional to the extent of departure, the power means I5 is of a much more 'highly developed character and functions to drive the member ID at substantially the maximum rate of operation of the power meansfor all departures of the members fromcorresponding position save very small departures during which the rate again is proportional to the departure so as to obtain an accurate positioning ofthe controlled member without overrunning. To that end, the power means comprises'a hydraulic transmission 19 of any well known manufacture and purchasable as a unit upon the market. Such a hydraulic transmission comprises a pump adapted to be driven by a motor I I; usually electric, and a hydraulic motor driven by fluid from the pump and some adjustable means determining the rate and the direction at which the hydraulic motor is driven from the pump. Herein the last mentioned means has, for control thereof, a rockable shaft 12 projecting outwardly of the transmission housing. ,In order that the drive for the member 19 may be self-locking, there is incorporated intermediate the transmission and the member II] a worm 14 and a worm wheel 15. This obviates the necessity of separate braking means for holding the member it against movement by, for example, the load carried thereby. The drive for the member ID may be completed, for example, by a pinion 15a fast with the worm wheel 15 and a 5 rack 15b meshing with the pinion and termif l5, as already stated, includes the self-synchronous receiver 46. The control means ll also includes a regulator, generally designated 16, a

controller, generally designated 11, governed by the regulator 16 and in turn controlling the power means, and a linkage system actuated by the control and the controlled members and-"by --the-;contro1ler'111 to governthe regulator. The regulator 16 is of the jet "type ,havinga pivoted :ii P pe l8 supplied in well .known .manner'with -fiuid. under pressure and dischargin the same :against a pair of orifices 79. The orifices are by conduits 80 connected to ports of the con- ...troller*1l which herein takes the form of acylin- .dersfli and a piston 82 reciprocabletherein. Secured to-thepiston 82 and'projecting through one-end of the cylinder is a piston rod-03. This "rod is by-a link 04 connected to an arm 85-of a ,motionrconverting-and transmitting system, gen-, erallydesignated 86, terminating at its other end inasimilar arm 81 fast on the end of the control shaft 12. ,system .86 -me1'ely serves to produce the type of ,movement required for the control of the particular hydraulic transmission 10 employed and .thatthissystem will either vary, or in some instancesmay be eliminated depending upon the make of hydraulic transmission employed. 7

The linkage system governing the regulator Icomprises a first linkage unit, generally .desig- ,nated 90. This linkage unit isactuated by the control member l3 and the controlled member 10 and functions to retain the jet pipe 18 of the regulator 16 in neutral position so long as there ,isno departure of the members from correspondenceof their positions. To thatend, the .unit

comprisesa pair of similar links 9| and 9,2 disgposed generally parallel of one another and each pivotally mounted intermediate its ends on a slidabl link 93. One end of the link 9| is through ashortjlink 94 connected .to a slidable element 95 driven through a rack and pinion from the .receiver 540 and thusrepresenting by linear movement zhe signal sent by the transmitter Y36, and, carried a step farther, representing the movement of the control member I3 in one of .its basic directions of movement. The other end of the link 9| is by a short link 96 connected toan actuator Slfor the jet pipe 18. The actuator 'ST-iHGllldBS a pair of compression springs 98 ,constituting the actual elements bearing against the ietpipe 18 so as to be capableof yielding should the movement of the actuator 91 by the link',9 l be greater than the limitedpermissible pivoting 'ofthe jet pipe 18. v

,The right-handend of the link 92, as viewedin Fig. j3,-is connected to be actuated by the controlled member ID. To that end, the link 92 is by' a short link I connected to an arm [0! mounted to rotate with a bevel gear I02. Meshing .with the bevel gear I02 is a second bevel gear J03 mounted to rotate with an arm I04 connected by a link I05 to a reducer I06 designed to reduce rotations ofthe output shaft of the transmission, .to which it is connected by bevel gears l06a, to motion of appropriate character and scope to cause the movement of the arm ID! to bear the same relationship to the movement of the controlled member ID that the element 95 bears to themovement of the control member l3. It will be seen, therefore, that the linkage unit 90 as actuated by the members l0 and I3 maintains the regulator 16 in neutral position when the positions of the control and the controlled members correspond. With any departure of the members from correspondence of positions, the jet-pipe T8'is pivoted to effect shifting of the controller l'l.

Completing the linkage system is a second linkage unihgenerally designated H0. This linkage unit ;is. actuated by the controller H and acts on theregulator through the linkage unit 90. ,Here- It will be appreciated that the.

one end of the link H0.

.in-the; action ofithecontroller 11 through the linkage ,unit I I0 is such as to'bring about:a premature or anticipatory return of the regulator to neutral position. Moreover, the controller 11 and the movement transmitting means 86 are so designed that movement of the piston 82 from an intermediate position in the cylinder to either end of the cylinder produces full rate of operation of the transmission 10.

The linkage unit -I [0 comprises a link III in the form of a'beam pivoted on a fulcrum H2 located very .close to The short arm of the link I I0 is by a link I I3 connected to the remain- :ing end of the link'92 of the first linkage unit90, "while the long arm of the link I l 0 is by a link I. connected to the piston rod- 83.

.Asshown in Fig. 3, movement of the .ietpipe TBY-ina counterclockwise direction, for example,

results in supply of fluid to the head end of the cylinder 8| and thus causes movement of thepiston ES-ZJ-and its rod 83 in a generallyupward direction, as viewed in Fig. 3. Assuming the elementtdandthearm Hll stationary, this upward movement of the rod 83 results in a movement of the actuator 91 tending to rotate the jet pipe EB-in a clockwisedirection and thereby the controller 11 may, undercertain conditions, bring about restoration of the regulator-to neutralposition and with it arrest of its own movement. As here-proportioned, however, the movement imparted tothe actuator 91, even by movement of the piston 82 through the full ,half length of the cylinder 8|, is not very great. The result is that only for small departures in correspondence of position of the control and the controlled members is the controller 11 capable of restoring the regulator to neutral position prior to .the reaching of the end of the cylinder by-thepiston 02. Further, it is only during such smalldepartures from correspondence of position of the control and the controlled members that the Operation While it is believed that the operation of the system will be readily understood from the foregoing, a brief statement of the operation will undoubtedly be a help in understanding the invention. The operator wishing to control the mem-. ber IE] will stand at the master station Ms and grasp the control member I3 at the upper free end thereof. Normally, the control member l3 seeks a position with the shaft .24 in intermediate or neutral position and with the shaft H3 at an extreme position. By retaining the control memberjl3 with the shaft 24 in neutral position, the operator may shift the control member [3 to the left, as viewed in Fig. 2, any desired amount within the provided limits and thereby rock the shaft l8. Such rocking of the shaft 18 results in rotation of th armature of the transmitter 35 and brings about a corresponding rotation of .the armature of the receiver 33. Such rota-.

tion of the armature ofthe receiver 38 is transformed into linear movement of the element 49 which then pivots the link 65 and moves the jet pipe 54 of the regulator 53 away from neutral position. This results in a shift of the valve element 6t and a supply of actuating fluid to the cylinder 46 constituting the power means for actuating the controlled member in one of its basic directions of movement. The linkage system 52 is so designed that the movement of the pistondl' counteracts the effect on the regulator of movement of the element 49 and thus when the controlled member til reaches the position corresponding exactly to the position of the control member I3 the regulator 53 is restoredto neutral and the motor 45 has been brought to rest.

Similarly, the operator may retain the shaft l8 stationary while actuating the control member 13 to rock the shaft 24 and thus bring about the creation of a signal at the control means I! calling for drive of the member Ill by the power means l5. If it be assumed that the movement of the control member [3 is small so that there is only a. small departure from correspondence in position of the control and the controlled members, the power means will drive the member at a rate proportional to the degree of departure. In somewhat greater detail, the control means will function in this manner: let it be assumed that .the element, 95 is shifted downwardly, as viewed in- Fig. 3. This will result in generally upward movement of the actuator 98, the link 92 and the link 93 being stationary at the instant of initial movement of the control member l3. With such upward movement of the actuator 98, the regulator 16 now causes upward movement of the piston 82, placing the transmission in operation and pivoting the link H9 in a clockwise direction about its fulcrum H2. With the element 95 now held stationary, the pivoting of the link HE! as well as the counterclockwise rotation of the arm Ill! which results from operation of the transmission acting through the linkage unit Q2 serves to restore the jet pipe'lS to neutral po sition bringin the-piston 82 to rest. Under the assumed condition of comparatively small movement of the control memberiB, the influence of the controller '17 predominates and is sufficient to arrest the piston 82 before it reaches the end of the cylinder. The rate of operation-of the transmission, therefore, will be proportional to the departure from corresponding position of the members, initially the movement of the control mem ber l3.

As the transmission continues to drive the member [0, the arm lill will continue to move in the same direction as before and thus, through the linkage unit 92, will pivot the jet pipe E8 to the opposite side of neutral thereby causing a return of the piston 82 toward its normal or intermediate' position. With any return of the piston 82 towards its normal or intermediate position; the actuator 91 is, or" course, shifted upwardly thereby tending to restore the jet pipe 18 to neutral position. These opposing actions on the actuator 91 of the controlled member Ill and the piston 82 continue with the rate of movement of thelmember ID constantly decreasing, due to gradual return of the transmission to zero output with return, of the piston 82 to neutral position, until the member ID reaches the position corresponding to that taken by the control member [3.

Where the departure in correspondence of 10 positions of the control and the controlled members, such, for example, as by initial large movement of the control member i3, is greater than the small departure that can be offset by movementor" the piston 82 alone, the operation is the same save that the movement imparted to the actuator 9i by movement of the piston 82 to the end of the cylinder 8i is not sufficient to oifset the movement of the actuator 9? in the opposite direction caused by a departure in correspondence of position of the control and the controlled members. The result, of course, is that the transmission now operates at maximum rate and continues so to operate until the movement imparted to the member IE3, as reflected in the linkage system 96, is sufficient, when coupled with the movement of the piston 82 as reflected in the linkage system H0, to restore the jet pipe E8 to and beyond neutral position. When that point is reached, the system then operates as above described to progressively reduce the rate of operation of the transmisssion and hence the rate of movement of the member l9 until all movement is arrested when themem- I ber reaches the called-for position.

ber it! moves only in one basic direction at any given time, but may be so moved that the controlled member 13 will be both rotated about its axis Al and swung about its axis 2 at one and the same time.

We claim as our invention:

1. In a remote control system a control-member located at a master station, a member to be controlled located at a remote station, said controlled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member, and apparatus for governing said power means to cause said controlled member to assume positions corresponding t the positions of said control member comprising, in combination, means having a part located at the master station and a part located at the remote station duplicating at the remote station movements of said control member, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member, and means to control the operation of said power means including a regulator having a neutral position, extreme positions of adjustment on either side of neutral producing maximum rate of operation of said power means and positions intermediate the extreme positions producing a rate of operation proportional to the departure from neutral, and an adjusting system for said regulator'responsive to the movements and indicated positions of said members adjusting said regulator to extreme position for all but small departures from correspondence in the positions of said members.

2. In a remote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member being' mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member, and apparatus for governing said power means'to cause saidcontrolled member'to assume positions corresponding to the positions of said control member comprising, in combination, means having. a part; located at the master station and a part 'located at the remote station duplicating at the remote station movements of said control member, means for duplicating at the remote station movements of said control member reduced to the proportions of the duplicated movements of said control member, a motor for adjusting said power means to various output rates, a regulator for governing said motor, and a linkage system connected to'both members to be responsive to the positions thereof, to said motor and tosaid regulator, said linkage system for small departures from correspondence in the positions of said members adjusting said regulator within its limits to obtain a rate of operation of said power means proportionalto the departure from correspondence in the positions and for all but small departures adjusting said regulator to the extreme of its limits to obtain maximum rate of operation of said power means.

3. In aremote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member being mounted to duplicate the movementsof said control member, powermeans for imparting movement to said controlled member, and apparatusv for governing said power means to cause. said controlled member to assume'positions corresponding to the positions of said control member comprising,. in combination, means having. a part located at the master station and a part located atthe remote station duplicating at the remote station movements of said control member, means forzduplicating at the remote station movements of-saidcontrolled member reduced to. the: proportions of the duplicated movements of said control member, a

departures from correspondence in the positionsof said members adjusting said regulatorwithin its limitsto obtain a rate of operation of said' power means proportional. to the departure from correspondence" in thezpositions andfor all but small departures adjustingsaid regulator to-theextreme of its limits to'obtain maximum rate of operation of said power means.

4. In a remotecontrol system a control member located at a master station, a member to be controlled located ata remote statiomsaid controlled member being mounted to duplicate the movements of said control membenpower means for imparting movement to said controlledmember, and apparatus forgoverning. said power meansto causesaid controlled memberto assume positionscorresponding tothe positions :of said control member comprising, in combination, means having a part located at themaster station and a part located at the'remote station duplicatingat theremote station movements of said control member, means for duplicating; at the remote station movements of said controlled member reduced to theproportionsof theduplicated movements-of-said control member, a hydraulic motor for adjustingsaid power means to corresponding positions, and a second linkage unit" connected to said first linkage unit and acting on said regulator through said first linkage unit and '12 actuated by said motor to produce ap'remature return of said regulator to neutral position 5. In a remote control system a control member located at a master station, a member to be controlledlocated at a remote station, said controlled member being mountedtto duplicatethe movements of said control member, power means for imparting movement to said controlled member, and apparatus for governing said power means'to cause said controlled member to assumethe remote station movements of said controlledmember reduced to the proportions of the duplicated movements of said control member, a hydraulic motor for adjusting said power means to various-output rates, a pivoted jet-pipe'type regulator for governing said motor, and a linkagesystem for controlling said regulator comprising;

a first-linkage unit actuating said regulator and actuated by said members to urge said regulator to neutral position when said members assume corresponding positions, said first linkage unit including an actuator for the jet-pipe of said regulator, and a second linkage unit acting on said regulator through said first linkage unit and actuated by said motor to move said jet-pipe actuator in a direction opposite to the movement imparted-thereto by departure of said members from correspondence in position.

6. In-a remote control system a control mem' ber located at a master station, a member to be controlled located at a remote station, said con trolled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member, and apparatus for governing saidpower means to causesaid controlledmember to assume positions corresponding tothe positions of said control member comprising,

remote station duplicating movements of said control member, means-Torduplicating at the remote station movements ofsaid controlled member reduced to linear-movement of the proportions of the duplicated movements of saidcontrol member, a piston and cylinder type hydraulic motor for adjusting-said power means: to

various output rates, a pivoted jet-pipe type regulator for governing said motor, and a linkage system for controlling said regulator comprising a first linkage unit actuating said regulator and actuated by said linearly movable part and'the reduced movements of said controlled member to urge said regulator to neutral position when said members assume corresponding positions, said first linkage unit including an actuator link for the jet-pipe of said regulator, and a second link-- age unit'actingon said regulator through said first linkage unit and actuated by said motor to move said jet pipe actuator link in a directionopposite to the movement imparted thereto bydeparture of said members from correspondence in position, said second linkage unit being 0p-' erable even upon movement of said motor to the extreme in either direction to move said jet pipe actuator link but a small fraction of the movement imparted thereto by maximum departure of said members from correspondence in their positions. 7

7. In a remote control system a control memr in combination,

in combination, means having a part located at the master sta tion and a linearlyv movable part located at the;

'13 ber located at a master station, a member to be controlled located at a, remote station, said controlled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled mem ber, and apparatus for governing said power means to causesa-id controlled member to assume positions corresponding to the positions of said control member comprising, in combination, means having apart located at the master station and a linearly movable part locatedat the remote station duplicating movements of said control member, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member including a generally linearly movable part, a piston and cylinder type hydraulic motor for adjusting said power meansto various output rates, a pivoted jet-pipe type regulator 'for governing said motor, and a linkage system for controlling said regulator comprising a jet pipe actuator link, a second link, pivotally connected at one end to said actuator link and at the other end to said linearly movable part, a third link pivotally connected at one end to the generally linearly movable part and disposed generally parallel with said second link, said second and third links being each pivotally mounted intermediate its ends on a bar slidable in a direction generally transversely of said links pivoted thereto, and a fourth link fulcrumed intermediate its ends and pivotally connected at one end to be moved by said motor and pivotally connected at its remaining end to the remaining end of said third link.

8. In a remote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member to assume positions corresponding to the positions of said control member comprising, in combination, a rotary multiple phase voltage changing transmitter located at the master station adapted to transmit a signal conforming to the movement of said control member, a rotary multiple phase voltage changing receiver located at the remote station duplicating certain movements of said control member, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member, a motor for adjusting said power means to various output rates, a regulator for governing said motor, and a linkage system connected to both members to be responsive to the positions thereof, to said motor and to said regulator, said linkage system for all but small departures from correspondence in the positions of said members adjusting said regulator to the extreme of its limits to obtain maximum rate of operation of said power means, small departures from correspondence in the positions of said members adjusting said regulator within its limits to obtain a rate of operation of said power means proportional to the departure from correspondence in the positions of said members.

9. In a remote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member'to assumepositions corresponding to the'positions of said control member comprising, in combination, a self-synchronoustransmitter located at the master station adapted to transmit a signal conforming to the movement of said control member, a self-synchronous receiver located at the remote station duplicating certain movements of said control member, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member, a motor for adjusting said power means to various output rates, a regulator *for governing said motor, and a linkage system responsive to the position of both members and to said motor controlling said regulator so as to obtain maximum rate of operation of said-power means for all but small departures from correspondence in the positions of said members, the rate of operation for small departures being proportional to the departure from correspondence in the positions, a hydraulic motor for adjusting said power means to various output rates, a pivoted jet-pipe type regulator for governing said motor, and a linkage system for controlling saidregulator comprising a first linkage'unit actuating said regulator and actuated by said members to urge said regulator to neutral position when said members assume corresponding positions, said first linkage unit including an actuator for said jet pipe, and a second linkage unit acting on said regulator through said first linkage unit and actuated by said motor to move said jet pipe actuator in a direction opposite to the movement imparted thereto by departure of said members from correspondence in position.

10. In a remote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member being mounted to duplicate the movements of said control member, power means for imparting movement to said controlled member and apparatus for governing said power means to cause said controlled member to assume positions corresponding to the positions of said control member comprising a self-synchronous transmitter actuated by said control member, a self-synchronous receiver located at the remote station electrically coupled to said transmitted and converting the signal of said transmitter into movement of a linearly movable part, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member including a generally linearly movable part, a piston and cylinder type hydraulic motor for adjusting said power means to various output rates, a pivoted jet-pipe type regulator for governing said motor, and a linkage system for controlling said regulator comprising a jet pipe actuator link, a second link pivotally connected at one end to said actuator link and at the other end to said linearly movable part, a third link pivotally connected at one end to the generally linearly movable part and disposed generally parallel with said second link, said second and third links being each pivotally mounted intermediate its ends on a bar slidable in a direction generally transversely of said links pivoted thereto, and a fourth link fulcrumed intermediate its ends and pivotally connected at one end to be moved by said motor and pivotally connected at its remaining end to the remaining end of said third link.

11. In a remote control system a control member located at a master station, a member to be controlled located at a remote station, said controlled member bein mounted to duplicate the movements of said control member, a hydraulic transmission for imparting movement in opposite directions to said controlled member including a control element adjustable in opposite directions from a neutral position to determine the direction and rate at which said transmission drives said controlled member, and apparatus for governing said transmission to cause said controlled member to assume positionsv corresponding to the positions of said control member comprising, in combination, electrical means having apart located at the master station-and a part located at the remote station duplicating at the remote, stat-ion movements of said control member, means for duplicating at the remote station movements of said controlled member reduced to the proportions of the duplicated movements of said control member, a, reversible motor, movement transforming and transmitting means interposed between said motor and the control element of said transmission adapting said motor for control of said transmission, a regulator for controlling said motor having a neutral position and extreme positions on opposite sides of neutral and causing said transmission to operate at a maximum rate when in either extreme position, and a linkage system for controlling said regulator connected to both members, to said-motor and to said regulator, said linkage system adjusting said regulator to extreme position for all but small departures of said members from correspondence in the positions thereof, said regulator during small departures from correspondence in the positions of said members being adjusted to positions proportional to the extent of departure from the correspondence in the positions of said .members, the direction of operation of said transmission being such as .to cause said controlled member to follow said control member.

HERBERT ZIEBOLZ. DANIEL T. GUNDERSEN. ROBERT K. BAETZMANN.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Number Name Date 2,047,922 Seligmann July 14, 1936 2,213,968 Rose Sept. 10, 1940 2,363,179 Harrington Nov. 21, 1944 2,409,190 Brown Oct. 15,, 1946 

